docstr: Projects points in the world coordinate system to the image coordinate system.
  
  Since cam_points will have shape (B, N, 3), repeated_intrinsics should have shape (B, N, 3, 3) so that
  kornia.geometry.project_points can be used.
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code: def _project_to_image(
      world_points, world_to_cam_4x4, repeated_intrinsics
  ):
      r"""Projects points in the world coordinate system to the image coordinate system.
  
      Since cam_points will have shape (B, N, 3), repeated_intrinsics should have shape (B, N, 3, 3) so that
      kornia.geometry.project_points can be used.
      """
      cam_points = kornia.geometry.transform_points(
          world_to_cam_4x4, world_points
      )
      img_points = kornia.geometry.project_points(
          cam_points, repeated_intrinsics
      )
  
      return img_points
  
file_path: kornia/test/geometry/calibration/test_pnp.py
imports: import pytest
  import torch
  from torch.autograd import gradcheck
  import kornia
  from kornia.geometry.calibration.pnp import _mean_isotropic_scale_normalize
  from kornia.testing import assert_close, tensor_to_gradcheck_var
label_desc: Use image node_id 2 for calling the TestSolvePnpDlt obj's underlying member method code with example usage: obj._project_to_image(world_points, world_to_cam_4x4, repeated_intrinsics) and returns: img_points